execution.uuv.control

Class DockingController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.DockingController

public class DockingController
extends UuvController

Author:

dtdavis

Field Summary

Fields inherited from class execution.uuv.control.UuvController

alongTrackRange, bowLateralThrusterCommand, bowVerticalThrusterCommand, correctToTrack, crossTrackError, depthError, depthErrorIntegral, depthPidTime, MAXDEPTHERROR, offTrackAngleDegrees, openLoopHeading, pdOnlyTime, portPropellerCommand, psiCommand, psiError, rudderCommand, speedControlReset, speedError, stbdPropellerCommand, sternLateralThrusterCommand, sternVerticalThrusterCommand, thetaCommand, THRUSTCONVERSION, turningRpm, uuvExecution, zCommand

Constructor Summary

Constructors

Constructor and Description
DockingController(UuvExecution execution) Creates a new instance of DockingController

Method Summary

Modifier and Type	Method and Description
void	computeControls() Computes control settings for docking control

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeRudderCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, getThetaCommand, isClosedLoopSpeed, readControls, setCommandedSpeed, setControls, setPropellersRPM, unsetClosedLoopSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DockingController

public DockingController(UuvExecution execution)

Creates a new instance of DockingController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for docking control

Specified by:

computeControls in class UuvController